I hardly recognize the intentions of other people. I often realize too late when people want to take advantage of me or are not well-disposed towards me.
Because of this, I learned to perceive strangers as a danger which is causing me anxiety and stress. This is especially an issue when strangers are approaching me. For some reason I don’t have much issues to approach others myself.
I’m not sure how much of this is related to my autism. Can someone relate to this? Is there anything I can do about this?
I don't have personal experience with anxiety in this way but what you describe, having a reaction to the approach of an unknown potential danger, sounds like an entirely reasonable defense mechanism for a person to have developed.
And when approaching the stranger is your choice and your action, I can understand why your "defense mechanisms" / "reflexive anxiety" wouldn't react the same way. The trigger for the anxiety is the unknown danger that approaches with no regard for your choice. If instead it is your choice to approach then even if there is a danger, or the unknown potential for danger, at least it is your own choice to approach that danger?
The trigger for the anxiety is the unknown danger that approaches with no regard for your choice.
This is most definitely the case. When I'm approaching them I already know what the interaction is about and how long it will take. That is significantly reducing my mental load in those situations.